In this work, a controller design technique called linear algebra based controller (LABC) is presented. The controller is\nobtained following a systematic procedure that is summarized in this work. In addition, the influence of additive uncertainty\non the tracking error is analyzed, and a solution using integrators is proposed. A mobile robot is used as a benchmark to test\nthe performance of the proposed algorithms. In addition, implementation to other systems such as marine vessel is referenced.\nIn this work, the design of controllers in continuous and discrete time is included and experimental and simulation\nresults are shown in a Pioneer 3AT mobile robot. Comparisons are also shown with other controllers proposed in\nthe literature.
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